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题名: Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper
作者: Li ZH(李志海); Wu ZW(吴镇炜); Zhao YW(赵忆文)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Information and Automation (ICIA 2014)
会议日期: July 28-30, 2014
会议地点: Hailar, China
会议录: Proceeding of the IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 740-745
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-4100-1
摘要: For stable landing motion control of biped robot, a new method using switching control is proposed. The biped robot is with Magenetorhelogical damper based soft driving package. Vibration often occurs in the landing phase of swing foot or unexpected contacting arising abruptly. The residual vibration arising from ground reaction force decreases the safety of biped walking. Firstly, walking gait of the biped robot is analyzed. Then Magenetorhelogical damper is introduced into joint structure to realize vibration suppression by physical mean. And a damping control method for vibration suppression is described. Control structure of joint with elasticity and MR damper is discussed. The strategy could provide reliable suppression effectiveness. Then the switching control method is established by position controller, damping controller and switching terms. Finally, a simulation is implemented to verify the effectiveness of the proposed landing control method.
语种: 英语
产权排序: 1
WOS记录号: WOS:000363815200135
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15400
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Li ZH,Wu ZW,Zhao YW. Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper[C]. 见:IEEE International Conference on Information and Automation (ICIA 2014). Hailar, China. July 28-30, 2014.
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文件名: Semi-active stable landing control for biped robot by using switching control .pdf
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